Update rate? Can do up to 100 KHz without problem, but analogWriteFrequency() seems to mess up if called too often.

Testing

The first version of the software using only P (error proportional only) shows some ringing. Need to adjust speed ramp and handle reversals more cleanly. It does track motor speed and will dial back the step rate if it detects missing steps.

Constant jerk planning

Constant Jerk mode smoothly ramps up the acceleration to a maximum value, which then quadratically ramps up the velocity to a maximum value. This reduces the shock on the system as motion begins and ends.